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<div class="title">walk_wbc_speed_test.cpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024 Humanoid Robot (Shanghai) Co., Ltd, under Apache 2.0.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://atomgit.com/openloong/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;useful_math.h&quot;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;PVT_ctrl.h&quot;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;pino_kin_dyn.h&quot;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;data_logger.h&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;wbc_priority.h&quot;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;gait_scheduler.h&quot;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;foot_placement.h&quot;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;joystick_interpreter.h&quot;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;chrono&gt;</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// main function</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keyword">const</span> <span class="keywordtype">char</span> **argv) {</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="comment">// ini classes</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <span class="keywordtype">double</span> timestep = 0.001;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <a class="code" href="classPin__KinDyn.html">Pin_KinDyn</a> kinDynSolver(<span class="stringliteral">&quot;../models/AzureLoong.urdf&quot;</span>); <span class="comment">// kinematics and dynamics solver</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <a class="code" href="structDataBus.html">DataBus</a> RobotState(kinDynSolver.model_nv); <span class="comment">// data bus</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <a class="code" href="classWBC__priority.html">WBC_priority</a> WBC_solv(kinDynSolver.model_nv, 18, 22, 0.7, timestep); <span class="comment">// WBC solver</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <a class="code" href="classGaitScheduler.html">GaitScheduler</a> gaitScheduler(0.4, timestep); <span class="comment">// gait scheduler</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <a class="code" href="classPVT__Ctr.html">PVT_Ctr</a> pvtCtr(timestep, <span class="stringliteral">&quot;../common/joint_ctrl_config.json&quot;</span>);<span class="comment">// PVT joint control</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <a class="code" href="classFootPlacement.html">FootPlacement</a> footPlacement; <span class="comment">// foot-placement planner</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <a class="code" href="classJoyStickInterpreter.html">JoyStickInterpreter</a> jsInterp(timestep); <span class="comment">// desired baselink velocity generator</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <a class="code" href="classDataLogger.html">DataLogger</a> logger(<span class="stringliteral">&quot;../record/datalog.log&quot;</span>); <span class="comment">// data logger</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="comment">// variables ini</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keywordtype">double</span> stand_legLength = 1.01; <span class="comment">//-0.95; // desired baselink height</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="keywordtype">double</span> foot_height = 0.07; <span class="comment">// distance between the foot ankel joint and the bottom</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keywordtype">double</span> xv_des = 0.7;  <span class="comment">// desired velocity in x direction</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    RobotState.width_hips = 0.229;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    footPlacement.kp_vx = 0.03;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    footPlacement.kp_vy = 0.03;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    footPlacement.kp_wz = 0.03;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    footPlacement.stepHeight = 0.2;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    footPlacement.legLength = stand_legLength;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="comment">//mju_copy(mj_data-&gt;qpos, mj_model-&gt;key_qpos, mj_model-&gt;nq*1); // set ini pos in Mujoco</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keywordtype">int</span> model_nv = kinDynSolver.model_nv;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="comment">// ini position and posture for foot-end and hand</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    std::vector&lt;double&gt; motors_pos_des(model_nv - 6, 0);</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    std::vector&lt;double&gt; motors_pos_cur(model_nv - 6, 0);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    std::vector&lt;double&gt; motors_vel_des(model_nv - 6, 0);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    std::vector&lt;double&gt; motors_vel_cur(model_nv - 6, 0);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    std::vector&lt;double&gt; motors_tau_des(model_nv - 6, 0);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    std::vector&lt;double&gt; motors_tau_cur(model_nv - 6, 0);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    Eigen::Vector3d fe_l_pos_L_des = {-0.018, 0.113, -stand_legLength};</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    Eigen::Vector3d fe_r_pos_L_des = {-0.018, -0.116, -stand_legLength};</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    Eigen::Vector3d fe_l_eul_L_des = {-0.000, -0.008, -0.000};</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    Eigen::Vector3d fe_r_eul_L_des = {0.000, -0.008, 0.000};</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    Eigen::Matrix3d fe_l_rot_des = eul2Rot(fe_l_eul_L_des(0), fe_l_eul_L_des(1), fe_l_eul_L_des(2));</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    Eigen::Matrix3d fe_r_rot_des = eul2Rot(fe_r_eul_L_des(0), fe_r_eul_L_des(1), fe_r_eul_L_des(2));</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="comment">//    hd_l_pos_L_des&lt;&lt;-0.02, 0.32, -0.159;</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="comment">//    hd_r_pos_L_des&lt;&lt;-0.02, -0.32, -0.159;</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="comment">//    hd_l_eul_L_des&lt;&lt;-1.7581, 0.2129, 2.9581;</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="comment">//    hd_r_eul_L_des&lt;&lt;1.7581, 0.21291, -2.9581;</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    Eigen::Vector3d hd_l_pos_L_des = {-0.02, 0.32, -0.159};</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    Eigen::Vector3d hd_r_pos_L_des = {-0.02, -0.32, -0.159};</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    Eigen::Vector3d hd_l_eul_L_des = {-1.7581, 0.2129, 2.9581};</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    Eigen::Vector3d hd_r_eul_L_des = {1.7581, 0.2129, -2.9581};</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    Eigen::Matrix3d hd_l_rot_des = eul2Rot(hd_l_eul_L_des(0), hd_l_eul_L_des(1), hd_l_eul_L_des(2));</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    Eigen::Matrix3d hd_r_rot_des = eul2Rot(hd_r_eul_L_des(0), hd_r_eul_L_des(1), hd_r_eul_L_des(2));</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">auto</span> resLeg = kinDynSolver.computeInK_Leg(fe_l_rot_des, fe_l_pos_L_des, fe_r_rot_des, fe_r_pos_L_des);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">auto</span> resHand = kinDynSolver.computeInK_Hand(hd_l_rot_des, hd_l_pos_L_des, hd_r_rot_des, hd_r_pos_L_des);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    Eigen::VectorXd qIniDes = Eigen::VectorXd::Zero(model_nv + 1, 1);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    qIniDes.block(7, 0, model_nv + 1 - 7, 1) = resLeg.jointPosRes + resHand.jointPosRes;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    WBC_solv.setQini(qIniDes);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="comment">// register variable name for data logger</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;motors_pos_cur&quot;</span>, model_nv - 6);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;motors_vel_cur&quot;</span>, model_nv - 6);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;rpy&quot;</span>, 3);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;fL&quot;</span>, 3);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;fR&quot;</span>, 3);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;basePos&quot;</span>, 3);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;baseLinVel&quot;</span>, 3);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;baseAcc&quot;</span>, 3);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;baseAngVel&quot;</span>, 3);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    logger.addIterm(<span class="stringliteral">&quot;runTime&quot;</span>, 1);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    logger.finishItermAdding();</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    std::vector&lt;double&gt; motor_pos = {0.4551, 1.1429, 1.8946, 0.8563, 1.2360, 0.0660, -0.1173, -0.4552, -1.1427,</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                                     -1.8945, 0.8563, -1.2360, 0.0661, 0.1174, -0.0000, -0.0133, 0.0031, 0.0004, 0.0000,</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                                     0.0148, 0.0001, 0.3482, -0.8127, 0.4295, -0.0218, -0.0186, -0.0002, 0.3483, -0.8129,</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                                     0.4297, 0.0177};</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    std::vector&lt;double&gt; motor_vel = {0.0001, -0.0000, 0.0000, 0.0000, 0.0000, 0.0000, -0.0000, -0.0001, -0.0000, -0.0000,</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                                     0.0000, 0.0000, -0.0000, -0.0000, 0.0000, -0.0002, -0.0000, -0.0000, -0.0000, 0.0000,</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                                     -0.0001, 0.0000, -0.0006, 0.0002, 0.0003, -0.0009, 0.0002, -0.0002, -0.0002,</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                                     -0.0001, 0.0008};</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> LoopNum=10000;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keyword">auto</span> start = std::chrono::high_resolution_clock::now();</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keyword">auto</span> end = std::chrono::high_resolution_clock::now();</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> LoopCount = 0; LoopCount &lt; LoopNum; LoopCount++) {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        RobotState.motors_pos_cur=motor_pos;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        RobotState.motors_vel_cur=motor_vel;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        RobotState.rpy[0]=0.0069;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        RobotState.rpy[1]=-0.0403;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        RobotState.rpy[2]=0;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        RobotState.fL[0]=0;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        RobotState.fL[1]=0;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        RobotState.fL[2]=0;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        RobotState.fR[0]=0;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        RobotState.fR[1]=0;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        RobotState.fR[2]=0;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        RobotState.basePos[0]=0.0039;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        RobotState.basePos[1]=-0.0054;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        RobotState.basePos[2]=1.0752;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        RobotState.baseLinVel[0]=0;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        RobotState.baseLinVel[1]=0;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        RobotState.baseLinVel[2]=0;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        RobotState.baseAcc[0]=0;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        RobotState.baseAcc[1]=0;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        RobotState.baseAcc[2]=0;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        RobotState.baseAngVel[0]=0;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        RobotState.baseAngVel[1]=0;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        RobotState.baseAngVel[2]=0;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        RobotState.updateQ();</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="comment">// update kinematics and dynamics info</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        kinDynSolver.dataBusRead(RobotState);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        kinDynSolver.computeJ_dJ();</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        kinDynSolver.computeDyn();</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        kinDynSolver.dataBusWrite(RobotState);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <span class="comment">// Enter here functions to send actuator commands, like:</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="comment">// arm-l: 0-6, arm-r: 7-13, head: 14,15, waist: 16-18, leg-l: 19-24, leg-r: 25-30</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="keywordflow">if</span> (LoopCount&gt;1) {</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;            jsInterp.setWzDesLPara(0, 1);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;            jsInterp.setVxDesLPara(xv_des, 2.0); <span class="comment">// jsInterp.setVxDesLPara(0.9,1);</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;            jsInterp.setIniPos(RobotState.q(0), RobotState.q(1));</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        jsInterp.setWzDesLPara(0, 1);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        jsInterp.setVxDesLPara(0, 2.0); <span class="comment">// jsInterp.setVxDesLPara(0.9,1);</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        jsInterp.step();</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        RobotState.js_pos_des(2) = stand_legLength + foot_height; <span class="comment">// pos z is not assigned in jyInterp</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        jsInterp.dataBusWrite(RobotState); <span class="comment">// only pos x, pos y, theta z, vel x, vel y , omega z are rewrote.</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="comment">// gait scheduler</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        gaitScheduler.dataBusRead(RobotState);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="keywordflow">if</span> (LoopCount&lt;1)</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;            gaitScheduler.step();</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        gaitScheduler.dataBusWrite(RobotState);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        footPlacement.dataBusRead(RobotState);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        footPlacement.getSwingPos();</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        footPlacement.dataBusWrite(RobotState);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="comment">// ------------- WBC ------------</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="comment">// WBC input</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        RobotState.Fr_ff = Eigen::VectorXd::Zero(12);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        RobotState.des_ddq = Eigen::VectorXd::Zero(model_nv);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        RobotState.des_dq = Eigen::VectorXd::Zero(model_nv);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        RobotState.des_delta_q = Eigen::VectorXd::Zero(model_nv);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        RobotState.base_rpy_des &lt;&lt; 0, 0, jsInterp.thetaZ;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        RobotState.base_pos_des(2) = stand_legLength + foot_height;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        RobotState.Fr_ff &lt;&lt; 0, 0, 370, 0, 0, 0,</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;                0, 0, 370, 0, 0, 0;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="comment">// adjust des_delata_q, des_dq and des_ddq to achieve forward walking</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        RobotState.des_delta_q.block&lt;2, 1&gt;(0, 0) &lt;&lt; jsInterp.vx_W * timestep, jsInterp.vy_W * timestep;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        RobotState.des_delta_q(5) = jsInterp.wz_L * timestep;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        RobotState.des_dq.block&lt;2, 1&gt;(0, 0) &lt;&lt; jsInterp.vx_W, jsInterp.vy_W;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        RobotState.des_dq(5) = jsInterp.wz_L;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keywordtype">double</span> k = 5;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        RobotState.des_ddq.block&lt;2, 1&gt;(0, 0) &lt;&lt; k * (jsInterp.vx_W - RobotState.dq(0)), k * (jsInterp.vy_W -</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;                                                                                             RobotState.dq(1));</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        RobotState.des_ddq(5) = k * (jsInterp.wz_L - RobotState.dq(5));</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <span class="comment">// WBC Calculation</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        WBC_solv.dataBusRead(RobotState);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        WBC_solv.computeDdq(kinDynSolver);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        WBC_solv.computeTau();</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        WBC_solv.dataBusWrite(RobotState);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="comment">//        // get the final joint command</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="comment">//        Eigen::VectorXd pos_des = kinDynSolver.integrateDIY(RobotState.q, RobotState.wbc_delta_q_final);</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="comment">//        RobotState.motors_pos_des = eigen2std(pos_des.block(7, 0, model_nv - 6, 1));</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="comment">//        RobotState.motors_vel_des = eigen2std(RobotState.wbc_dq_final);</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="comment">//        RobotState.motors_tor_des = eigen2std(RobotState.wbc_tauJointRes);</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        pvtCtr.dataBusRead(RobotState);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        pvtCtr.setJointPD(100, 10, <span class="stringliteral">&quot;J_ankle_l_pitch&quot;</span>);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        pvtCtr.setJointPD(100, 10, <span class="stringliteral">&quot;J_ankle_l_roll&quot;</span>);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        pvtCtr.setJointPD(100, 10, <span class="stringliteral">&quot;J_ankle_r_pitch&quot;</span>);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        pvtCtr.setJointPD(100, 10, <span class="stringliteral">&quot;J_ankle_r_roll&quot;</span>);</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        pvtCtr.setJointPD(1000, 100, <span class="stringliteral">&quot;J_knee_l_pitch&quot;</span>);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        pvtCtr.setJointPD(1000, 100, <span class="stringliteral">&quot;J_knee_r_pitch&quot;</span>);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        pvtCtr.calMotorsPVT();</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        pvtCtr.dataBusWrite(RobotState);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        end = std::chrono::high_resolution_clock::now();</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        std::chrono::duration&lt;double&gt; duration = end - start;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        start = end;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        logger.startNewLine();</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        logger.recItermData(<span class="stringliteral">&quot;motors_pos_cur&quot;</span>, RobotState.motors_pos_cur);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        logger.recItermData(<span class="stringliteral">&quot;motors_vel_cur&quot;</span>, RobotState.motors_vel_cur);</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        logger.recItermData(<span class="stringliteral">&quot;rpy&quot;</span>, RobotState.rpy);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        logger.recItermData(<span class="stringliteral">&quot;fL&quot;</span>, RobotState.fL);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        logger.recItermData(<span class="stringliteral">&quot;fR&quot;</span>, RobotState.fR);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        logger.recItermData(<span class="stringliteral">&quot;basePos&quot;</span>, RobotState.basePos);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        logger.recItermData(<span class="stringliteral">&quot;baseLinVel&quot;</span>, RobotState.baseLinVel);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        logger.recItermData(<span class="stringliteral">&quot;baseAcc&quot;</span>, RobotState.baseAcc);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        logger.recItermData(<span class="stringliteral">&quot;baseAngVel&quot;</span>, RobotState.baseAngVel);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        logger.recItermData(<span class="stringliteral">&quot;runTime&quot;</span>, duration.count());</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        logger.finishLine();</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;<span class="comment">//        printf(&quot;rpyVal=[%.5f, %.5f, %.5f]\n&quot;, RobotState.rpy[0], RobotState.rpy[1], RobotState.rpy[2]);</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;<span class="comment">//        printf(&quot;gps=[%.5f, %.5f, %.5f]\n&quot;, RobotState.basePos[0], RobotState.basePos[1], RobotState.basePos[2]);</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="comment">//        printf(&quot;vel=[%.5f, %.5f, %.5f]\n&quot;, RobotState.baseLinVel[0], RobotState.baseLinVel[1],</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;<span class="comment">//               RobotState.baseLinVel[2]);</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    }</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;   <span class="comment">//std::cout&lt;&lt; RobotState.wbc_tauJointRes.transpose()&lt;&lt;std::endl;</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    std::chrono::duration&lt;double&gt; duration = end - start;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    std::cout&lt;&lt;<span class="stringliteral">&quot;loop time recorded to the last column of record/datalog.log&quot;</span>&lt;&lt;std::endl;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="comment">//    std::cout &lt;&lt; &quot;Execution time: &quot; &lt;&lt; duration.count() &lt;&lt; &quot; seconds\n&quot;;</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="comment">//    std::cout &lt;&lt; &quot;Ava Loop time: &quot; &lt;&lt; duration.count()/LoopNum*1000. &lt;&lt; &quot; ms\n&quot;;</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;}</div>
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